How to run LSD-SLAM with usb_cam? plz

asked 2016-11-05 20:48:40 -0500

nistar gravatar image

I install LSD-SLAM in a new Ubuntu PC
First I install ROS-indigo with the ROS tutorial.
Second I install "-$ sudo apt-get install ros-indigo-uvc-camera" for camera.
Third I install LSD-SLAM 2.2 on . And "rosmake" without failures.
FInally, I run "Quickstart / Minimal Setup" with LSD_room.bag, but error!!!!!

lwc@ubuntu:~$ rosbag play /home/lwc/Downloads/LSD_room.bag
[ INFO] [1478316004.308358407]: Opening /home/lwc/Downloads/LSD_room.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

[ERROR] [1478316004.738215027]: Client [/LSD_SLAM] wants topic /image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection.
[RUNNING] Bag Time: 1400002317.507880 Duration: 55.293594 / 55.334465

But when I use "dataset_slam" with "LSD_room_images",
"~$ rosrun lsd_slam_core dataset_slam _files:=/home/lwc/LSD_room/images _hz:=0 _calib:=/home/lwc/LSD_room/cameraCalibration.cfg"
it can run, and it's great.

When I use "live_slam" with camera
"~$ rosrun lsd_slam_core live_slam /image:=image_raw _calib:=/home/lwc/LSD_room/cameraCalibration.cfg"
it can't run, and have same problem with Quickstart!!!!!

Do I need calibrate the camera in ROS, or do something?
Please, help me!!!!!

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